Rev 467 | Rev 632 | Go to most recent revision | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 467 | Rev 586 | ||
|---|---|---|---|
| 1 | using System; |
1 | using System; |
| 2 | using System.Collections.Generic; |
2 | using System.Collections.Generic; |
| 3 | using System.Text; |
3 | using System.Text; |
| 4 | using System.Threading; |
4 | using System.Threading; |
| 5 | 5 | ||
| 6 | //this class should probably be integrated into canNMT instead |
6 | //this class should probably be integrated into canNMT instead |
| 7 | 7 | ||
| 8 | public class Downloader { |
8 | public class Downloader { |
| 9 | private HexFile hf; |
9 | private HexFile hf; |
| 10 | private DaemonConnection dc; |
10 | private DaemonConnection dc; |
| 11 | private bool isBiosUpdate; |
11 | private bool isBiosUpdate; |
| 12 | private ulong dlOffset = 0; |
12 | private ulong dlOffset = 0; |
| 13 | //private Thread down; |
13 | //private Thread down; |
| 14 | private byte receiveID; |
14 | private byte receiveID; |
| 15 | 15 | ||
| 16 | private enum dState { SEND_START, WAIT_ACK_PRG, SEND_PGM_DATA, WAIT_ACK_DATA, RESEND_ADDR, WAIT_DONE, SEND_DONE, SEND_BIOS_UPDATE, SEND_RESET, DONE, |
16 | private enum dState { SEND_START, WAIT_ACK_PRG, SEND_PGM_DATA, WAIT_ACK_DATA, RESEND_ADDR, WAIT_DONE, SEND_DONE, SEND_BIOS_UPDATE, SEND_RESET, DONE, DEBUG_STATE2, WAIT_BOOT, SEND_EMPTY_START, WAIT_ACK_PRG_EMPTY, SEND_EMPTY_DATA, WAIT_ACK_EMPTY_DATA, SEND_DONE_EMPTY, WAIT_DONE_EMPTY}; |
| 17 | 17 | ||
| 18 | private const byte CAN_NMT = 0x00; |
18 | private const byte CAN_NMT = 0x00; |
| 19 | 19 | ||
| 20 | private const byte CAN_NMT_RESET = 0x04; |
20 | private const byte CAN_NMT_RESET = 0x04; |
| 21 | private const byte CAN_NMT_BIOS_START = 0x08; |
21 | private const byte CAN_NMT_BIOS_START = 0x08; |
| 22 | private const byte CAN_NMT_PGM_START = 0x0C; |
22 | private const byte CAN_NMT_PGM_START = 0x0C; |
| 23 | private const byte CAN_NMT_PGM_DATA = 0x10; |
23 | private const byte CAN_NMT_PGM_DATA = 0x10; |
| 24 | private const byte CAN_NMT_PGM_END = 0x14; |
24 | private const byte CAN_NMT_PGM_END = 0x14; |
| 25 | private const byte CAN_NMT_PGM_COPY = 0x18; |
25 | private const byte CAN_NMT_PGM_COPY = 0x18; |
| 26 | private const byte CAN_NMT_PGM_ACK = 0x1C; |
26 | private const byte CAN_NMT_PGM_ACK = 0x1C; |
| 27 | private const byte CAN_NMT_PGM_NACK = 0x20; |
27 | private const byte CAN_NMT_PGM_NACK = 0x20; |
| 28 | private const byte CAN_NMT_START_APP = 0x24; |
28 | private const byte CAN_NMT_START_APP = 0x24; |
| 29 | private const byte CAN_NMT_APP_START = 0x28; |
29 | private const byte CAN_NMT_APP_START = 0x28; |
| 30 | private const byte CAN_NMT_HEARTBEAT = 0x2C; |
30 | private const byte CAN_NMT_HEARTBEAT = 0x2C; |
| 31 | 31 | ||
| 32 | private const byte MY_ID = 0x00; |
32 | private const byte MY_ID = 0x00; |
| 33 | //private const byte TARGET_ID = 0x78; |
33 | //private const byte TARGET_ID = 0x78; |
| 34 | private const byte MY_NID = 0x0; |
34 | private const byte MY_NID = 0x0; |
| 35 | private const byte ADDR0_INDEX = 0; |
35 | private const byte ADDR0_INDEX = 0; |
| 36 | private const byte ADDR1_INDEX = 1; |
36 | private const byte ADDR1_INDEX = 1; |
| 37 | private const byte ADDR2_INDEX = 2; |
37 | private const byte ADDR2_INDEX = 2; |
| 38 | private const byte ADDR3_INDEX = 3; |
38 | private const byte ADDR3_INDEX = 3; |
| 39 | 39 | ||
| 40 | private const int TIMEOUT_MS = 2000; |
40 | private const int TIMEOUT_MS = 2000; |
| 41 | 41 | ||
| 42 | private long timeStart = 0; |
42 | private long timeStart = 0; |
| 43 | 43 | ||
| 44 | public Downloader(HexFile hf, DaemonConnection dc, byte receiveID, bool isBiosUpdate) { |
44 | public Downloader(HexFile hf, DaemonConnection dc, byte receiveID, bool isBiosUpdate) { |
| 45 | this.hf = hf; |
45 | this.hf = hf; |
| 46 | this.dc = dc; |
46 | this.dc = dc; |
| 47 | this.receiveID = receiveID; |
47 | this.receiveID = receiveID; |
| 48 | this.isBiosUpdate = isBiosUpdate; |
48 | this.isBiosUpdate = isBiosUpdate; |
| 49 | } |
49 | } |
| 50 | 50 | ||
| 51 | public int calcCRC(HexFile hf) { |
51 | public int calcCRC(HexFile hf) { |
| 52 | int crc=0; |
52 | int crc=0; |
| 53 | for (ulong i=hf.getAddrLower(); i <= hf.getAddrUpper(); i++) { |
53 | for (ulong i=hf.getAddrLower(); i <= hf.getAddrUpper(); i++) { |
| 54 | crc = crc16_update(crc, hf.getByte(i)); |
54 | crc = crc16_update(crc, hf.getByte(i)); |
| 55 | } |
55 | } |
| 56 | return crc; |
56 | return crc; |
| 57 | } |
57 | } |
| 58 | 58 | ||
| 59 | public int crc16_update(int crc, byte a) { |
59 | public int crc16_update(int crc, byte a) { |
| 60 | int i; |
60 | int i; |
| 61 | crc ^= a; |
61 | crc ^= a; |
| 62 | for (i = 0; i < 8; ++i) { |
62 | for (i = 0; i < 8; ++i) { |
| 63 | if ((crc & 1) != 0) |
63 | if ((crc & 1) != 0) |
| 64 | crc = (crc >> 1) ^ 0xA001; |
64 | crc = (crc >> 1) ^ 0xA001; |
| 65 | else |
65 | else |
| 66 | crc = (crc >> 1); |
66 | crc = (crc >> 1); |
| 67 | } |
67 | } |
| 68 | return crc; |
68 | return crc; |
| 69 | } |
69 | } |
| 70 | 70 | ||
| 71 | public bool go() { |
71 | public bool go() { |
| 72 | if (dc==null || hf==null || hf.getLength()==0) return false; |
72 | if (dc==null || hf==null || hf.getLength()==0) return false; |
| 73 | return downloader(); |
73 | return downloader(); |
| 74 | } |
74 | } |
| 75 | 75 | ||
| 76 | public void abort() { |
76 | public void abort() { |
| 77 | //if (down != null && down.IsAlive) down.Abort(); |
77 | //if (down != null && down.IsAlive) down.Abort(); |
| 78 | } |
78 | } |
| 79 | 79 | ||
| 80 | public bool downloader() { |
80 | public bool downloader() { |
| 81 | dState pgs = dState.SEND_START; |
81 | dState pgs = dState.SEND_START; |
| 82 | int t = 0; |
82 | int t = 0; |
| 83 | CanPacket outCm = null; |
83 | CanPacket outCm = null; |
| 84 | CanPacket cm = null; |
84 | CanPacket cm = null; |
| 85 | byte[] data = new byte[8]; |
85 | byte[] data = new byte[8]; |
| 86 | uint byteSent = 0; |
86 | uint byteSent = 0; |
| 87 | ulong currentAddress = 0; |
87 | ulong currentAddress = 0; |
| 88 | bool done = false; |
88 | bool done = false; |
| 89 | bool errorOccured = false; |
89 | bool errorOccured = false; |
| 90 | 90 | ||
| 91 | try { |
91 | try { |
| 92 | if (isBiosUpdate) { |
92 | if (isBiosUpdate) { |
| 93 | dlOffset = hf.getAddrLower(); |
93 | dlOffset = hf.getAddrLower(); |
| 94 | //Console.WriteLine(dlOffset); |
94 | //Console.WriteLine(dlOffset); |
| 95 | //dlOffset = 200; |
95 | //dlOffset = 200; |
| 96 | } |
96 | } |
| 97 | 97 | ||
| 98 | CanNMT cpn = new CanNMT(); |
98 | CanNMT cpn = new CanNMT(); |
| 99 | cpn.setReceiver(receiveID); |
99 | cpn.setReceiver(receiveID); |
| 100 | bool hasMessage = false; |
100 | bool hasMessage = false; |
| 101 | 101 | ||
| 102 | while (!done) { |
102 | while (!done) { |
| 103 | Thread.Sleep(1); |
103 | Thread.Sleep(1); |
| 104 | 104 | ||
| 105 | switch (pgs) { |
105 | switch (pgs) { |
| 106 | case dState.SEND_START: |
106 | case dState.SEND_START: |
| 107 | // Send boot start packet to target. |
107 | // Send boot start packet to target. |
| 108 | // and wait for ack. |
108 | // and wait for ack. |
| 109 | currentAddress = hf.getAddrLower(); |
109 | currentAddress = hf.getAddrLower(); |
| 110 | //data[RID_INDEX] = TARGET_ID; |
110 | //data[RID_INDEX] = TARGET_ID; |
| 111 | data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF); |
111 | data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF); |
| 112 | data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8); |
112 | data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8); |
| 113 | data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16); |
113 | data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16); |
| 114 | data[ADDR3_INDEX] = 0; |
114 | data[ADDR3_INDEX] = 0; |
| 115 | //outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data); |
115 | //outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data); |
| 116 | outCm = cpn.getPgmStartPacket(data); |
116 | outCm = cpn.getPgmStartPacket(data); |
| 117 | dc.sendCanPacket(outCm); |
117 | dc.sendCanPacket(outCm); |
| 118 | t = Environment.TickCount; |
118 | t = Environment.TickCount; |
| 119 | pgs = dState.WAIT_ACK_PRG; |
119 | pgs = dState.WAIT_ACK_PRG; |
| 120 | timeStart = Environment.TickCount; |
120 | timeStart = Environment.TickCount; |
| 121 | break; |
121 | break; |
| 122 | 122 | ||
| 123 | 123 | ||
| 124 | case dState.WAIT_ACK_PRG: |
124 | case dState.WAIT_ACK_PRG: |
| 125 | // Check for timeout, resend start packet in that case.. |
125 | // Check for timeout, resend start packet in that case.. |
| 126 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
126 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
| 127 | Console.WriteLine("Timeout while waiting for start prg ack."); |
127 | Console.WriteLine("Timeout while waiting for start prg ack."); |
| 128 | errorOccured = true; |
128 | errorOccured = true; |
| 129 | pgs = dState.SEND_RESET; |
129 | pgs = dState.SEND_RESET; |
| 130 | } |
130 | } |
| 131 | //Thread.Sleep(1); |
131 | //Thread.Sleep(1); |
| 132 | // If received ack. |
132 | // If received ack. |
| 133 | hasMessage = dc.getData(out cm); |
133 | hasMessage = dc.getData(out cm); |
| 134 | if (hasMessage) { |
134 | if (hasMessage) { |
| 135 | CanNMT cpnin = new CanNMT(cm); |
135 | CanNMT cpnin = new CanNMT(cm); |
| 136 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
136 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
| 137 | // If no error |
137 | // If no error |
| 138 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
138 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
| 139 | // Start sending program data.. |
139 | // Start sending program data.. |
| 140 | byteSent = 0; |
140 | byteSent = 0; |
| 141 | pgs = dState.SEND_PGM_DATA; |
141 | pgs = dState.SEND_PGM_DATA; |
| 142 | } |
142 | } |
| 143 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
143 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
| 144 | // else .. |
144 | // else .. |
| 145 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
145 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
| 146 | errorOccured = true; |
146 | errorOccured = true; |
| 147 | pgs = dState.SEND_RESET; |
147 | pgs = dState.SEND_RESET; |
| 148 | } |
148 | } |
| 149 | 149 | ||
| 150 | } |
150 | } |
| 151 | } |
151 | } |
| 152 | break; |
152 | break; |
| 153 | 153 | ||
| 154 | case dState.SEND_PGM_DATA: |
154 | case dState.SEND_PGM_DATA: |
| 155 | //Console.WriteLine("byteSent = "+byteSent); |
155 | //Console.WriteLine("byteSent = "+byteSent); |
| 156 | Console.Write("."); |
156 | Console.Write("."); |
| 157 | // Send program data. |
157 | // Send program data. |
| 158 | byte datalength = 2; |
158 | byte datalength = 2; |
| 159 | for (ulong i = 0; i < 6; i++) { |
159 | for (ulong i = 0; i < 6; i++) { |
| 160 | // Populate data. |
160 | // Populate data. |
| 161 | data[i+2] = hf.getByte(currentAddress + i + byteSent); |
161 | data[i+2] = hf.getByte(currentAddress + i + byteSent); |
| 162 | if (currentAddress + i + byteSent > hf.getAddrUpper()) { |
162 | if (currentAddress + i + byteSent > hf.getAddrUpper()) { |
| 163 | break; //then done |
163 | break; //then done |
| 164 | } |
164 | } |
| 165 | datalength++; |
165 | datalength++; |
| 166 | } |
166 | } |
| 167 | data[0] = (byte)(byteSent & 0x00FF); |
167 | data[0] = (byte)(byteSent & 0x00FF); |
| 168 | data[1] = (byte)((byteSent & 0xFF00) >> 8); |
168 | data[1] = (byte)((byteSent & 0xFF00) >> 8); |
| 169 | 169 | ||
| 170 | outCm = cpn.getPgmDataPacket(data, datalength); |
170 | outCm = cpn.getPgmDataPacket(data, datalength); |
| 171 | dc.sendCanPacket(outCm); |
171 | dc.sendCanPacket(outCm); |
| 172 | 172 | ||
| 173 | t = Environment.TickCount; |
173 | t = Environment.TickCount; |
| 174 | byteSent += 6; |
174 | byteSent += 6; |
| 175 | pgs = dState.WAIT_ACK_DATA; |
175 | pgs = dState.WAIT_ACK_DATA; |
| 176 | break; |
176 | break; |
| 177 | 177 | ||
| 178 | 178 | ||
| 179 | case dState.WAIT_ACK_DATA: |
179 | case dState.WAIT_ACK_DATA: |
| 180 | // Wait for pgm ack. |
180 | // Wait for pgm ack. |
| 181 | if ((Environment.TickCount - t) > 2*TIMEOUT_MS) { |
181 | if ((Environment.TickCount - t) > 2*TIMEOUT_MS) { |
| 182 | // Woops, error. |
182 | // Woops, error. |
| 183 | Console.WriteLine("Timeout while waiting for data ack."); |
183 | Console.WriteLine("Timeout while waiting for data ack."); |
| 184 | errorOccured = true; |
184 | errorOccured = true; |
| 185 | pgs = dState.SEND_RESET; |
185 | pgs = dState.SEND_RESET; |
| 186 | } |
186 | } |
| 187 | //Thread.Sleep(1); |
187 | //Thread.Sleep(1); |
| 188 | // If received ack. |
188 | // If received ack. |
| 189 | hasMessage = dc.getData(out cm); |
189 | hasMessage = dc.getData(out cm); |
| 190 | if (hasMessage) { |
190 | if (hasMessage) { |
| 191 | CanNMT cpnin = new CanNMT(cm); |
191 | CanNMT cpnin = new CanNMT(cm); |
| 192 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
192 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
| 193 | // If no error |
193 | // If no error |
| 194 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
194 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
| 195 | //currentAddress += 2; |
195 | //currentAddress += 2; |
| 196 | // Check if end. |
196 | // Check if end. |
| 197 | if (currentAddress + byteSent > hf.getAddrUpper()) { |
197 | if (currentAddress + byteSent > hf.getAddrUpper()) { |
| 198 | // Yes, we are done, send done. |
198 | // Yes, we are done, send done. |
| 199 | pgs = dState.SEND_DONE; |
199 | pgs = dState.SEND_DONE; |
| 200 | } |
200 | } |
| 201 | else { |
201 | else { |
| 202 | // More to write. |
202 | // More to write. |
| 203 | //byteSent = 0; |
203 | //byteSent = 0; |
| 204 | pgs = dState.SEND_PGM_DATA; |
204 | pgs = dState.SEND_PGM_DATA; |
| 205 | } |
205 | } |
| 206 | } |
206 | } |
| 207 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
207 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
| 208 | // else .. |
208 | // else .. |
| 209 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
209 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
| 210 | errorOccured = true; |
210 | errorOccured = true; |
| 211 | pgs = dState.SEND_RESET; |
211 | pgs = dState.SEND_RESET; |
| 212 | } |
212 | } |
| 213 | 213 | ||
| 214 | } |
214 | } |
| 215 | } |
215 | } |
| 216 | break; |
216 | break; |
| 217 | 217 | ||
| 218 | case dState.SEND_DONE: |
218 | case dState.SEND_DONE: |
| 219 | // Send done |
219 | // Send done |
| 220 | outCm = cpn.getPgmEndPacket(); |
220 | outCm = cpn.getPgmEndPacket(); |
| 221 | dc.sendCanPacket(outCm); |
221 | dc.sendCanPacket(outCm); |
| 222 | 222 | ||
| 223 | t = Environment.TickCount; |
223 | t = Environment.TickCount; |
| 224 | pgs = dState.WAIT_DONE; |
224 | pgs = dState.WAIT_DONE; |
| 225 | break; |
225 | break; |
| 226 | 226 | ||
| 227 | 227 | ||
| 228 | case dState.WAIT_DONE: |
228 | case dState.WAIT_DONE: |
| 229 | // Check for timeout, resend done packet in that case.. |
229 | // Check for timeout, resend done packet in that case.. |
| 230 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
230 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
| 231 | Console.WriteLine("Timeout while waiting for end prg ack."); |
231 | Console.WriteLine("Timeout while waiting for end prg ack."); |
| 232 | errorOccured = true; |
232 | errorOccured = true; |
| 233 | pgs = dState.SEND_RESET; |
233 | pgs = dState.SEND_RESET; |
| 234 | } |
234 | } |
| 235 | //Thread.Sleep(1); |
235 | //Thread.Sleep(1); |
| 236 | 236 | ||
| 237 | hasMessage = dc.getData(out cm); |
237 | hasMessage = dc.getData(out cm); |
| 238 | if (hasMessage) { |
238 | if (hasMessage) { |
| 239 | CanNMT cpnin = new CanNMT(cm); |
239 | CanNMT cpnin = new CanNMT(cm); |
| 240 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
240 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
| 241 | // If no error |
241 | // If no error |
| 242 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
242 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
| 243 | Console.WriteLine(""); |
243 | Console.WriteLine(""); |
| 244 | // |
244 | // |
| 245 | int crc = calcCRC(hf); |
245 | int crc = calcCRC(hf); |
| 246 | 246 | ||
| 247 | if (cm.getDataLength() == 2) { |
247 | if (cm.getDataLength() == 2) { |
| 248 | byte[] cmdata = cm.getData(); |
248 | byte[] cmdata = cm.getData(); |
| 249 | if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) { |
249 | if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) { |
| 250 | if (!isBiosUpdate) { |
250 | if (!isBiosUpdate) { |
| 251 | Console.WriteLine("Done, successfully programmed application."); |
251 | Console.WriteLine("Done, successfully programmed application."); |
| 252 | pgs = dState.SEND_RESET; |
252 | pgs = dState.SEND_RESET; |
| 253 | } else { |
253 | } else { |
| 254 | Console.WriteLine("Done, successfully programmed bios to application space."); |
254 | Console.WriteLine("Done, successfully programmed bios to application space."); |
| 255 | pgs = dState.SEND_BIOS_UPDATE; |
255 | pgs = dState.SEND_BIOS_UPDATE; |
| 256 | } |
256 | } |
| 257 | } else { |
257 | } else { |
| 258 | string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8)); |
258 | string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8)); |
| 259 | nodecrc = "0x"+nodecrc; |
259 | nodecrc = "0x"+nodecrc; |
| 260 | string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00)); |
260 | string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00)); |
| 261 | realcrc = "0x"+realcrc; |
261 | realcrc = "0x"+realcrc; |
| 262 | Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+"."); |
262 | Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+"."); |
| 263 | errorOccured = true; |
263 | errorOccured = true; |
| 264 | pgs = dState.SEND_RESET; |
264 | pgs = dState.SEND_RESET; |
| 265 | } |
265 | } |
| 266 | 266 | ||
| 267 | byteSent = 0; |
267 | byteSent = 0; |
| 268 | } |
268 | } |
| 269 | //Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF)); |
269 | //Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF)); |
| 270 | //Console.WriteLine("ACKpkg with CRC: " + cm.ToString()); |
270 | //Console.WriteLine("ACKpkg with CRC: " + cm.ToString()); |
| 271 | // |
271 | // |
| 272 | } |
272 | } |
| 273 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
273 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
| 274 | // else resend addr.. |
274 | // else resend addr.. |
| 275 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
275 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
| 276 | errorOccured = true; |
276 | errorOccured = true; |
| 277 | pgs = dState.SEND_RESET; |
277 | pgs = dState.SEND_RESET; |
| 278 | } |
278 | } |
| 279 | } |
279 | } |
| 280 | } |
280 | } |
| 281 | break; |
281 | break; |
| 282 | 282 | ||
| 283 | case dState.SEND_BIOS_UPDATE: |
283 | case dState.SEND_BIOS_UPDATE: |
| 284 | data[0] = (byte)(0 & 0x00FF); |
284 | data[0] = (byte)(0 & 0x00FF); |
| 285 | data[1] = (byte)((0 & 0xFF00) >> 8); |
285 | data[1] = (byte)((0 & 0xFF00) >> 8); |
| 286 | data[2] = (byte)(dlOffset & 0x00FF); |
286 | data[2] = (byte)(dlOffset & 0x00FF); |
| 287 | data[3] = (byte)((dlOffset & 0xFF00) >> 8); |
287 | data[3] = (byte)((dlOffset & 0xFF00) >> 8); |
| 288 | data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF); |
288 | data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF); |
| 289 | data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8); |
289 | data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8); |
| 290 | 290 | ||
| 291 | outCm = cpn.getPgmCopyPacket(data); |
291 | outCm = cpn.getPgmCopyPacket(data); |
| 292 | Console.WriteLine("Now say a prayer, moving bios"); |
292 | Console.WriteLine("Now say a prayer, moving bios"); |
| 293 | dc.sendCanPacket(outCm); |
293 | dc.sendCanPacket(outCm); |
| 294 | t = Environment.TickCount; |
294 | t = Environment.TickCount; |
| - | 295 | pgs = dState.WAIT_BOOT; |
|
| 295 | pgs |
296 | //pgs = dState.DONE; |
| 296 | break; |
297 | break; |
| 297 | 298 | ||
| - | 299 | case dState.WAIT_BOOT: |
|
| - | 300 | // Wait for node reset answer (boot msg). |
|
| - | 301 | if ((Environment.TickCount - t) > 2*TIMEOUT_MS) { |
|
| - | 302 | // Woops, error. |
|
| - | 303 | Console.WriteLine("Timeout while waiting for node to boot."); |
|
| - | 304 | errorOccured = true; |
|
| - | 305 | pgs = dState.SEND_DONE; |
|
| - | 306 | } |
|
| - | 307 | //Thread.Sleep(1); |
|
| - | 308 | // If received boot msg. |
|
| - | 309 | hasMessage = dc.getData(out cm); |
|
| - | 310 | if (hasMessage) { |
|
| - | 311 | CanNMT cpnin = new CanNMT(cm); |
|
| - | 312 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
|
| - | 313 | // If no error |
|
| - | 314 | if (cpnin.getType() == CAN_NMT_BIOS_START) { |
|
| - | 315 | pgs = dState.SEND_EMPTY_START; |
|
| - | 316 | } |
|
| - | 317 | else { |
|
| - | 318 | // else .. |
|
| - | 319 | } |
|
| - | 320 | } |
|
| - | 321 | } |
|
| - | 322 | break; |
|
| - | 323 | ||
| - | 324 | case dState.SEND_EMPTY_START: |
|
| - | 325 | // Send boot start packet to target. |
|
| - | 326 | // and wait for ack. |
|
| - | 327 | ||
| - | 328 | //data[RID_INDEX] = TARGET_ID; |
|
| - | 329 | data[ADDR0_INDEX] = (byte)((0) & 0x0000FF); |
|
| - | 330 | data[ADDR1_INDEX] = (byte)(((0) & 0x00FF00) >> 8); |
|
| - | 331 | data[ADDR2_INDEX] = (byte)(((0) & 0xFF0000) >> 16); |
|
| - | 332 | data[ADDR3_INDEX] = 0; |
|
| - | 333 | //outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data); |
|
| - | 334 | outCm = cpn.getPgmStartPacket(data); |
|
| - | 335 | dc.sendCanPacket(outCm); |
|
| - | 336 | t = Environment.TickCount; |
|
| - | 337 | pgs = dState.WAIT_ACK_PRG_EMPTY; |
|
| - | 338 | timeStart = Environment.TickCount; |
|
| - | 339 | break; |
|
| - | 340 | ||
| - | 341 | ||
| - | 342 | case dState.WAIT_ACK_PRG_EMPTY: |
|
| - | 343 | // Check for timeout, resend start packet in that case.. |
|
| - | 344 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
|
| - | 345 | Console.WriteLine("Timeout while waiting for start prg ack."); |
|
| - | 346 | errorOccured = true; |
|
| - | 347 | pgs = dState.SEND_RESET; |
|
| - | 348 | } |
|
| - | 349 | //Thread.Sleep(1); |
|
| - | 350 | // If received ack. |
|
| - | 351 | hasMessage = dc.getData(out cm); |
|
| - | 352 | if (hasMessage) { |
|
| - | 353 | CanNMT cpnin = new CanNMT(cm); |
|
| - | 354 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
|
| - | 355 | // If no error |
|
| - | 356 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
|
| - | 357 | // Start sending program data.. |
|
| - | 358 | byteSent = 0; |
|
| - | 359 | pgs = dState.SEND_EMPTY_DATA; |
|
| - | 360 | } |
|
| - | 361 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
|
| - | 362 | // else .. |
|
| - | 363 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
|
| - | 364 | errorOccured = true; |
|
| - | 365 | pgs = dState.SEND_RESET; |
|
| - | 366 | } |
|
| - | 367 | ||
| - | 368 | } |
|
| - | 369 | } |
|
| - | 370 | break; |
|
| - | 371 | ||
| - | 372 | case dState.SEND_EMPTY_DATA: |
|
| - | 373 | // Send program data. |
|
| - | 374 | data[0] = 0; |
|
| - | 375 | data[1] = 0; |
|
| - | 376 | data[2] = 0xff; |
|
| - | 377 | data[3] = 0xff; |
|
| - | 378 | ||
| - | 379 | outCm = cpn.getPgmDataPacket(data, 4); |
|
| - | 380 | dc.sendCanPacket(outCm); |
|
| - | 381 | ||
| - | 382 | t = Environment.TickCount; |
|
| - | 383 | byteSent += 6; |
|
| - | 384 | pgs = dState.WAIT_ACK_EMPTY_DATA; |
|
| - | 385 | break; |
|
| - | 386 | ||
| - | 387 | ||
| - | 388 | case dState.WAIT_ACK_EMPTY_DATA: |
|
| - | 389 | // Wait for pgm ack. |
|
| - | 390 | if ((Environment.TickCount - t) > 2*TIMEOUT_MS) { |
|
| - | 391 | // Woops, error. |
|
| - | 392 | Console.WriteLine("Timeout while waiting for data ack."); |
|
| - | 393 | errorOccured = true; |
|
| - | 394 | pgs = dState.SEND_RESET; |
|
| - | 395 | } |
|
| - | 396 | //Thread.Sleep(1); |
|
| - | 397 | // If received ack. |
|
| - | 398 | hasMessage = dc.getData(out cm); |
|
| - | 399 | if (hasMessage) { |
|
| - | 400 | CanNMT cpnin = new CanNMT(cm); |
|
| - | 401 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
|
| - | 402 | // If no error |
|
| - | 403 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
|
| - | 404 | pgs = dState.SEND_DONE_EMPTY; |
|
| - | 405 | } |
|
| - | 406 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
|
| - | 407 | // else .. |
|
| - | 408 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
|
| - | 409 | errorOccured = true; |
|
| - | 410 | pgs = dState.SEND_RESET; |
|
| - | 411 | } |
|
| - | 412 | ||
| - | 413 | } |
|
| - | 414 | } |
|
| - | 415 | break; |
|
| - | 416 | ||
| - | 417 | case dState.SEND_DONE_EMPTY: |
|
| - | 418 | // Send done |
|
| - | 419 | outCm = cpn.getPgmEndPacket(); |
|
| - | 420 | dc.sendCanPacket(outCm); |
|
| - | 421 | ||
| - | 422 | t = Environment.TickCount; |
|
| - | 423 | pgs = dState.WAIT_DONE_EMPTY; |
|
| - | 424 | break; |
|
| - | 425 | ||
| - | 426 | ||
| - | 427 | case dState.WAIT_DONE_EMPTY: |
|
| - | 428 | // Check for timeout, resend done packet in that case.. |
|
| - | 429 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
|
| - | 430 | Console.WriteLine("Timeout while waiting for end prg ack."); |
|
| - | 431 | errorOccured = true; |
|
| - | 432 | pgs = dState.SEND_RESET; |
|
| - | 433 | } |
|
| - | 434 | //Thread.Sleep(1); |
|
| - | 435 | ||
| - | 436 | hasMessage = dc.getData(out cm); |
|
| - | 437 | if (hasMessage) { |
|
| - | 438 | CanNMT cpnin = new CanNMT(cm); |
|
| - | 439 | if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
|
| - | 440 | // If no error |
|
| - | 441 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
|
| - | 442 | Console.WriteLine(""); |
|
| - | 443 | // |
|
| - | 444 | Console.WriteLine("Done, successfully cleaned application flash."); |
|
| - | 445 | pgs = dState.SEND_RESET; |
|
| - | 446 | } |
|
| - | 447 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
|
| - | 448 | // else resend addr.. |
|
| - | 449 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
|
| - | 450 | errorOccured = true; |
|
| - | 451 | pgs = dState.SEND_RESET; |
|
| - | 452 | } |
|
| - | 453 | } |
|
| - | 454 | } |
|
| - | 455 | break; |
|
| 298 | case dState.SEND_RESET: |
456 | case dState.SEND_RESET: |
| 299 | // Send reset |
457 | // Send reset |
| 300 | cpn.doReset(dc, receiveID); |
458 | cpn.doReset(dc, receiveID); |
| 301 | t = Environment.TickCount; |
459 | t = Environment.TickCount; |
| 302 | pgs = dState.DONE; |
460 | pgs = dState.DONE; |
| 303 | break; |
461 | break; |
| 304 | 462 | ||
| 305 | 463 | ||
| 306 | case dState.DONE: |
464 | case dState.DONE: |
| 307 | done = true; |
465 | done = true; |
| 308 | //down.Abort(); |
466 | //down.Abort(); |
| 309 | if (!errorOccured) { |
467 | if (!errorOccured) { |
| 310 | long tsecs = ((Environment.TickCount - timeStart) / 1000); |
468 | long tsecs = ((Environment.TickCount - timeStart) / 1000); |
| 311 | double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0); |
469 | double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0); |
| 312 | 470 | ||
| 313 | if (tsecs <= 0) tsecs = 1; |
471 | if (tsecs <= 0) tsecs = 1; |
| 314 | long mins = tsecs / 60; |
472 | long mins = tsecs / 60; |
| 315 | long secs = tsecs % 60; |
473 | long secs = tsecs % 60; |
| 316 | string pad = ""; |
474 | string pad = ""; |
| 317 | if (secs < 10) { |
475 | if (secs < 10) { |
| 318 | pad = "0"; |
476 | pad = "0"; |
| 319 | } |
477 | } |
| 320 | Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s"); |
478 | Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s"); |
| 321 | } |
479 | } |
| 322 | //Console.Write("> "); |
480 | //Console.Write("> "); |
| 323 | break; |
481 | break; |
| 324 | } |
482 | } |
| 325 | } |
483 | } |
| 326 | 484 | ||
| 327 | } catch(Exception) { |
485 | } catch(Exception) { |
| 328 | Console.WriteLine("Exception occured"); |
486 | Console.WriteLine("Exception occured"); |
| 329 | //Console.WriteLine(e); |
487 | //Console.WriteLine(e); |
| 330 | //skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom |
488 | //skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom |
| 331 | 489 | ||
| 332 | } |
490 | } |
| 333 | 491 | ||
| 334 | return !errorOccured; |
492 | return !errorOccured; |
| 335 | } |
493 | } |
| 336 | } |
494 | } |
| 337 | 495 | ||